JP7345270B2 - Pasting device, pasting system, and pasting method - Google Patents

Description

One aspect of the present invention relates to a pasting device, a pasting system, and a pasting method.

BACKGROUND ART Conventionally, as a pasting device for pressing and pasting an article onto an adherend, the one described in Patent Document 1 is known. This automatic pasting device applies duram rubber to a wind panel by moving a pasting hand using a robot arm while pressing the duram rubber against the wind panel with a pressing member.

Japanese Patent Application Publication No. 06-80089

Here, when attaching the cut article to an adherend, it may be required to accurately attach the article to a desired attachment position on the adherend. The above-mentioned automatic pasting device pastes, for example, a string-like duram rubber having a constant cross-sectional shape along a wind panel, and does not paste while performing accurate positioning. Therefore, there has been a need for a pasting device, a pasting system, and a pasting method that can satisfactorily paste an article to a desired pasting position on an adherend.

A pasting device according to one embodiment of the present invention is a pasting device that presses and pastes an article having a first portion and a second portion onto an adherend, and wherein the first portion is pasted on the adherend. A first adhering part for attaching the second part to the adherend, and a second adhering part for adhering the second part to the adherend, and the first adhering part and the second adhering part can be connected and disconnected from each other. The first sticking part includes a first held part that is detachably held on the robot arm, a first pressing part that presses the first part against the adherend, and a second holding part that presses the first part against the adherend. The pasting part includes a second held part that is detachably held on the robot arm, and a second part that presses the second part against the adherend while moving relative to the adherend. A pressing part.

A pasting system according to one embodiment of the present invention is a pasting system that presses and pastes an article having a first portion and a second portion onto an adherend, and wherein the first portion is pasted on the adherend. A pasting device includes a first pasting section for attaching the second portion to the adherend, and a second pasting section for pasting the second portion to the adherend, and a robot arm that removably holds the pasting device. The first part is held in a state where the first part and the second part are connected to each other, and the pasting device is attached to the adherend, and the second pasting part, which has been disconnected from the first pasting part, is attached to the adherend. Move it relative to the object.

A pasting method according to one embodiment of the present invention is a pasting method in which an article having a first portion and a second portion is pressed onto an adherend, and the first portion is pasted on the adherend. an attaching step of attaching a pasting device to an adherend, which includes a first sticking part for attaching the second part to the adherend; and a second sticking part for pasting the second part to the adherend; The robot arm includes a first attaching step of attaching the second part to the adherend, and a second attaching step of attaching the second part to the adherend by a second attaching section. The application device is attached to the adherend by holding the first part in a state where the part and the second part are connected to each other, and in the second application step, the robot arm connects the second application part to the first part. The second portion is attached to the adherend by disconnecting it from the attachment part and moving it relative to the adherend.

According to one embodiment of the present invention, it is possible to successfully attach an article to a desired attachment position on an adherend.

1 is a schematic configuration diagram showing a pasting system according to an embodiment of the present invention. FIG. 2(a) is a perspective view showing an example of a vehicle door frame component and a weather strip, and FIG. 2(b) is a sectional view showing an example of the cross-sectional shape of a side sealing portion. c) is a cross-sectional view showing an example of the cross-sectional shape of the corner sealing portion. FIG. 3 is a schematic diagram illustrating how the application system starts applying a weather strip. FIG. 2 is a schematic diagram showing how a weather strip is attached to a vehicle door frame component using an attaching system. FIG. 2 is a schematic diagram showing how a weather strip is attached to a vehicle door frame component using an attaching system. FIG. 3 is a perspective view of the corner sticking unit viewed from the inside of the vehicle. FIG. 2 is a perspective view of the corner sticking unit viewed from the outside of the vehicle. FIG. 3 is a perspective view of the side sticking unit viewed from the inside of the vehicle. FIG. 3 is a perspective view of the side sticking unit viewed from the outside of the vehicle.

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same or equivalent elements are given the same reference numerals, and redundant description will be omitted.

In this embodiment, an example in which a weather strip having a plurality of cross-sectional shapes is attached to a vehicle door frame part of an automobile part will be described as an example in which it is required to accurately attach an article to a desired attachment position on an adherend. do. For example, even if the articles have the same cross section, it can be suitably used even when attaching an article that has a curve formed in order to be attached to a corner of an adherend.

FIG. 1 is a schematic configuration diagram showing a pasting system 100 according to an embodiment of the present invention. The pasting system 100 is a system that presses and pastes a weather strip 101 (article) onto a vehicle door frame component 110 (adherent), which is an automobile part. The pasting system 100 includes a pasting device 1 that presses and pastes the weather strip 101 onto a vehicle door frame component 110, and a robot arm 2 that detachably holds the pasting device 1.

FIG. 2(a) is a perspective view showing the vehicle door frame component 110 and the weather strip 101. Further, FIG. 3 is a schematic diagram showing a situation when the application system 100 starts applying the weather strip 101. 4 and 5 are schematic diagrams showing how the weather strip 101 is applied to the vehicle door frame component 110 using the application system 100. Note that the robot arm 2 is omitted in FIGS. 4 and 5.

An example of the vehicle door frame component 110 and the weather strip 101 will be described with reference to FIG. 2(a) and FIGS. 3 to 5. As shown in FIG. 2(a), the vehicle door frame component 110 includes a main body portion 111 and a frame portion 112. The frame portion 112 is provided on the upper end side of the main body portion 111 so as to surround the area where the glass is arranged. The frame portion 112 has a bent corner 112a, a side 112b extending toward the front of the vehicle from the corner 112a, and a side 112c extending downward from the corner 112a. The side portion 112b extends gradually downward from the corner portion 112a.

As shown in FIGS. 3 to 5, the vehicle door frame component 110 has a stepped portion 113 (see also FIGS. 2(b) and 2(c)) for arranging the weather strip 101 on the main surface on the indoor side. . The step portion 113 is continuously formed along the outer periphery of the frame portion 112 and the outer periphery of the main body portion 111 . As shown in FIG. 2(a), the weather strip 101 is an annular member disposed over the entire outer periphery of the vehicle door frame component 110. The weather strip 101 is a sealing member for ensuring watertightness between the weather strip 101 and the opening of the vehicle when the vehicle door frame component 110 of the vehicle is closed.

The weather strip 101 according to the present embodiment has a cross-sectional shape that is not constant in the circumferential direction but changes. The weather strip 101 includes a corner sealing portion 102 (first portion) disposed at a corner 112a of a frame portion 112, and a side sealing portion 103 (second portion) disposed at a side portion 112b. , and a side sealing portion 104 (second portion) disposed on the side portion 112c. FIG. 2(b) shows the cross-sectional shape of the side sealing portions 103, 104. FIG. 2(c) shows the cross-sectional shape of the corner sealing portion 102. As shown in FIGS. 2(b) and 2(c), the corner sealing portion 102 and the side sealing portions 103, 104 have different cross-sectional shapes. Note that the corner sealing portion 102 and the side sealing portions 103 and 104 are attached to the outer peripheral surface of the stepped portion 113 of the vehicle door frame component 110 via the adhesive member 106.

As shown in FIGS. 1 and 3 to 5, the pasting device 1 includes a corner pasting unit 10 (first pasting section) and side pasting units 50A and 50B (second pasting section). . The corner sticking unit 10 sticks the corner sealing portion 102 of the weather strip 101 to the corner 112a of the vehicle door frame component 110. The side adhesion unit 50A applies the side sealing portion 103 of the weather strip 101 to the side 112b of the vehicle door frame component 110. The side sticking unit 50B sticks the side sealing portion 104 of the weather strip 101 on the side 112c of the vehicle door frame component 110.

The corner pasting unit 10 and the side pasting units 50A and 50B are configured to be able to be connected and disconnected from each other. The corner pasting unit 10 and the side pasting units 50A and 50B are carried by the robot arm 2 while being connected to each other. Therefore, when the robot arm 2 holds and carries the corner pasting unit 10, the side pasting units 50A and 50B also move accordingly (see especially FIG. 3). Further, the corner sticking unit 10 is fixed to a vehicle door frame component 110. Therefore, the side sticking units 50A and 50B are fixed to the vehicle door frame component 110 as the corner bonding unit 10 is fixed to the vehicle door frame component 110 (see especially FIG. 4).

The corner sticking unit 10 is fixed to the vehicle door frame part 110 and at the same time sticks the corner sealing part 102 of the weather strip 101 to the corner part 112a of the vehicle door frame part 110 on the spot. The side sticking unit 50A sticks the side sealing portion 103 of the weather strip 101 to the side 112b of the vehicle door frame component 110 by moving along the side 112b (see especially FIG. 4(b) ). The side sticking unit 50B sticks the side sealing portion 104 of the weather strip 101 to the side 112c of the vehicle door frame component 110 by moving along the side 112c (see especially FIG. 5(a) ). A more detailed configuration of each unit 10, 50A, 50B of the pasting device 1 will be described later.

The robot arm 2 is a device that moves the pasting device 1 while holding the pasting device 1. The robot arm 2 includes a plurality of arm sections 3, a joint section 4, and a holding section 5. The arm portion 3 is a member that connects the joint portions 4 to each other. The holding section 5 is provided at the tip of the robot arm 2 and holds the pasting device 1. The robot arm 2 can adjust the position and orientation of the holding part 5 by rotating the arm part 3 at the joint part 4.

The robot arm 2 holds the corner sticking unit 10 in a state where the corner sticking unit 10 and the side sticking units 50A and 50B are connected to each other, and attaches the sticking device 1 to the vehicle door frame component 110 (especially as shown in FIG. 4(a)). The robot arm 2 moves the side pasting unit 50A, which has been disconnected from the corner pasting unit 10, relative to the side 112b of the vehicle door frame component 110 (see especially FIG. 4(b)). The robot arm 2 moves the side pasting unit 50B, which has been disconnected from the corner pasting unit 10, relative to the side 112c of the vehicle door frame component 110 (see especially FIG. 5(a)).

Next, the detailed configuration of the pasting device 1 will be described with reference to FIGS. 6 to 9. FIG. 6 is a perspective view of the corner sticking unit 10 viewed from the inside of the vehicle. FIG. 6 shows the corner sticking unit 10 attached to a vehicle door frame component 110. FIG. 6 shows a state in which the corner pasting unit 10 and the side pasting unit 50A are disconnected, and the corner pasting unit 10 and the side pasting unit 50B are connected. Further, in FIG. 6, only a part of the vehicle door frame component 110 is shown, and only the vicinity of the corner 112a of the weather strip 101 is shown. FIG. 7 is a perspective view of the corner sticking unit 10 viewed from the outside of the vehicle. In FIG. 7, only the corner pasting unit 10 is shown. FIG. 8 is a perspective view of the side sticking unit 50A viewed from the inside of the vehicle. FIG. 9 is a perspective view of the side sticking unit 50A viewed from the outside of the vehicle. In FIGS. 8 and 9, only a portion of the side pasting unit 50A and the weather strip 101 are shown. Note that in FIGS. 6 to 9, the direction in which the side portion 112b extends from the corner portion 112a is referred to as a "direction D1," and the direction in which the side portion 112c extends from the corner portion 112a is referred to as a "direction D2." Note that the directions D1 and D2 change as appropriate depending on the configuration of the target vehicle door frame component 110. Further, in the following description, the description will be made based on the posture when the pasting device 1 is attached to the vehicle door frame component 110.

As shown in FIGS. 6 and 7, the corner sticking unit 10 includes a base member 11, a held part 12 (first held part), a pressing part 13 (first pressing part), and a connecting part. 14A and 14B.

The base member 11 is a member to which various components of the corner pasting unit 10 are attached. The base member 11 is mainly composed of a plate-like member having a thickness in the vehicle width direction. The base member 11 has a plate member 21 on the indoor side of the vehicle and a plate member 22 on the outdoor side of the vehicle. The plate member 21 and the plate member 22 are arranged so as to face each other and to be separated from each other by a member extending in the vehicle width direction. In addition, in FIG. 7, the plate member 22 on the outdoor side is omitted.

The held part 12 is a part that is detachably held on the robot arm 2. The held portion 12 is held between the holding portions 5 of the robot arm 2 . The held portion 12 is provided on the main surface of the indoor side plate member 21 on the indoor side. The held portion 12 protrudes toward the indoor side from the main surface. Since the held part 12 is fixed to the plate member 21, when the robot arm 2 holds the held part 12, the corner sticking unit 10 and the side sticking unit 50A connected to the corner sticking unit 10 are attached. , 50B are entirely held by the robot arm 2. The held portion 12 is provided to extend along the direction D1, but the direction in which it extends is not particularly limited.

As shown in FIG. 7, the pressing portion 13 is a portion that presses the corner sealing portion 102 of the weather strip 101 against the vehicle door frame component 110. The pressing unit 13 includes a pressing member 23 (first pressing member), a pressing member 24 (second pressing member), and drive units 26 and 27. The pressing member 23 has a shape corresponding to the inner peripheral side of the corner 112a of the vehicle door frame component 110, and presses the corner 112a from the inner peripheral side. The pressing surface 23a of the pressing member 23 is curved in a convex manner so as to correspond to the inner peripheral side of the corner 112a. The pressing member 24 has a shape corresponding to the outer peripheral side of the corner 112a of the vehicle door frame component 110, and presses the corner 112a from the outer peripheral side via the weather strip 101. The pressing surface 24a of the pressing member 24 is curved in a concave manner to correspond to the outer peripheral side of the corner 112a.

The drive units 26 and 27 move the pressing member 23 and the pressing member 24 closer to and away from each other. The drive unit 26 is constituted by an air cylinder that reciprocates the pressing member 23 from the opposite side of the pressing surface 23a. The drive unit 27 is constituted by an air cylinder that reciprocates the pressing member 24 from the opposite side of the pressing surface 24a. The driving units 26 and 27 fix the pressing members 23 and 24 to the tips of rods, and move the pressing members 23 and 24 by expanding and contracting the rods. The driving parts 26 and 27 are fixed to the plate member 21 of the base member 11, and the pressing members 23 and 24 are not fixed to the plate member 21. Therefore, the pressing members 23 and 24 move relative to the plate member 21.

A fixing mechanism for fixing the vehicle door frame component 110 and the corner sticking unit 10 by the pressing members 23, 24, the driving parts 26, 27, and the plate member 22 on the outdoor side of the base member 11 (see FIG. 8). 15 are configured. That is, the lower end of the plate member 22 and the pressing member 23 sandwich the vehicle door frame component 110. Thereby, the entire corner sticking unit 10 is fixed to the vehicle door frame component 110. Thereafter, the pressing member 24 presses the weather strip 101 at the corner 112a.

The connecting portion 14A is a mechanism for connecting the side pasting unit 50A to the corner pasting unit 10. The connecting portion 14A is provided at a position adjacent to the pressing portion 13 in the direction D1. The connecting portion 14A includes a receiving portion 31, a protruding portion 32, and a driving portion 33. The receiving portion 31 is a portion that receives the connecting portion 53 of the side pasting unit 50A. The protruding part 32 protrudes extensibly from a support part 34 arranged at a position facing away from the receiving part 31 . The receiving portion 31 and the supporting portion 34 face each other in a direction perpendicular to the direction D1. A pair of protruding parts 32 are provided on the support part 34, and are inserted into the hole 53a of the connecting part 53 of the side pasting unit 50A to press the connecting part 53 against the receiving part 31. The drive section 33 is provided on the opposite side of the protrusion 32 with the support section 34 in between. The drive unit 33 is constituted by an air cylinder that expands and contracts the protrusion 32 .

The connecting portion 14B is a mechanism for connecting the side pasting unit 50B to the corner pasting unit 10. The connecting portion 14B is provided at a position adjacent to the pressing portion 13 on the direction D2 side. The connecting portion 14B includes a receiving portion 31, a protruding portion 32, and a driving portion 33, like the connecting portion 14A. The connecting portion 14B has the same configuration as the connecting portion 124A, except that the receiving portion 31 and the supporting portion 34 face each other in a direction perpendicular to the direction D2.

The configuration of the side pasting unit 50A will be described with reference to FIGS. 8 and 9. As shown in FIGS. 8 and 9, the side sticking unit 50A includes a base member 51, a held part 52 (second held part), a connecting part 53, and a pressing part 54 (second pressing part). ) and a guide mechanism 56.

The base member 51 is a member for attaching various components of the side pasting unit 50A. The base member 51 is mainly composed of a plate-like member having a thickness in the vehicle width direction.

The held portion 52 is a portion that is detachably held on the robot arm 2. The held portion 52 is held between the holding portions 5 of the robot arm 2 . The held portion 52 is provided on the main surface of the base member 51 on the indoor side. The held portion 52 protrudes toward the indoor side from the main surface. Since the held part 52 is fixed to the base member 51, when the robot arm 2 holds the held part 52, the entire side pasting unit 50A is held by the robot arm 2. The held portion 52 is provided to extend along the direction D1, but the direction in which it extends is not particularly limited.

The connecting portion 53 is a portion that is detachably connected to the connecting portion 14A of the corner pasting unit 10. The connecting portion 53 is provided on the main surface of the base member 51 on the indoor side. The connecting portion 53 projects toward the indoor side from the main surface. The connecting portion 53 is provided at a position shifted from the held portion 52 to the opposite side in the direction D1. The connecting portion 53 is provided so as to extend along the direction D1. A pair of holes 53a are formed in the upper surface of the connecting portion 53. The connecting portion 53 is connected to the connecting portion 14A by inserting the protruding portion 32 (see FIG. 6) into the hole 53a with the lower surface supported by the receiving portion 31 (see FIG. 6). When disconnecting, the protrusion 32 is pulled out from the hole 53a.

The pressing portion 54 is a portion that presses and attaches the side sealing portion 103 of the weather strip 101 to the vehicle door frame component 110 while moving relative to the vehicle door frame component 110. As shown in FIG. 9, the pressing portion 54 is provided on the main surface of the base member 51 on the outdoor side. The pressing section 54 includes a roller 61 that presses and attaches the weather strip 101. The roller 61 rotates around a rotating shaft extending in the vehicle width direction. The roller 61 is provided at the lower end of the base member 51 and at the upstream end in the direction D1. The roller 61 can be reciprocated in the vertical direction by a drive section 62 provided on the upper side. The drive unit 62 is constituted by an air cylinder that reciprocates the roller 61 from above. The drive unit 62 fixes a support 63 that supports the roller 61 to the tip of a rod, and moves the roller 61 by expanding and contracting the rod. The drive unit 62 is fixed to the base member 51, and the roller 61 and the support body 63 are not fixed to the base member 51. Therefore, the roller 61 moves relative to the base member 51.

The guide mechanism 56 is a mechanism that guides the pressing portion 54 to supply the weather strip 101 before being applied. The guide mechanism 56 includes a supply roller 64 and a plurality of guide rollers 66, 67, 68, 69. Note that the supply roller 64 and the guide rollers 66, 67, and 68 are provided on the outdoor side with respect to the base member 51.

The supply roller 64 is provided at a position adjacent to the roller 61 of the pressing section 54 in the direction D1. The supply roller 64 rotates around a rotating shaft extending in the vehicle width direction. Further, the supply roller 64 is connected to a motor 71 provided on the indoor side of the base member 51 (see FIG. 8). As a result, the supply roller 64 is rotationally driven to feed out the weatherstrip 101.

The guide rollers 66, 67, 68, 69 are provided on the downstream side of the supply roller 64 in the direction D1. The guide rollers 66, 67, 68, and 69 guide the weather strip 101 in an inclined state so as to move away upward in the direction D1. The guide roller 66 rotates around a rotating shaft extending in the vehicle width direction so as to guide the upper end of the weather strip 101. The guide roller 67 (see FIG. 8) rotates around a rotating shaft extending in the vertical direction so as to guide the indoor end of the weather strip 101. The guide roller 68 rotates around a rotation shaft extending in the vertical direction so as to guide the outdoor end of the weather strip 101. The guide roller 69 rotates around a rotating shaft extending in the vehicle width direction so as to guide the lower end of the weather strip 101.

Among the lower guide rollers 69, the upstream guide roller 69A in the direction D1 is connected to a motor 73 (see FIG. 8) provided on the indoor side with respect to the base member 51. Thereby, the guide roller 69A is rotationally driven so as to send out the weather strip 101. Further, both guide rollers 69 are connected to a drive section 76 formed by an air cylinder. The guide roller 69 is connected to a drive unit 76 via a motor 73 and a support member 74 (see FIG. 8) that supports the motor 73. The drive unit 76 can reciprocate the guide roller 69 in the vehicle width direction by expanding and contracting the rod in the vehicle width direction. Therefore, when the weather strip 101 is set in the side pasting unit 50A, the guide roller 69 is placed in a position retracted toward the indoor side. Once the weather strip 101 is set to a position where it is sandwiched between the other guide rollers 66, 67, and 69, the guide roller 69 moves toward the outdoor side.

Note that the side pasting unit 50A includes an angle sensor 81 (see FIG. 8) that detects the inclination of the side pasting unit 50A, and a position sensor 82 (see FIG. 9) that detects the position of the side pasting unit 50A. . The position sensor 82 is configured by a sensor that emits a laser L.

Note that the side pasting unit 50B has the same configuration as the side pasting unit 50A except that it moves in the direction D2, so the description thereof will be omitted.

Next, the pasting method according to this embodiment will be described with reference to FIGS. 3 to 5. The pasting method includes a mounting process, a first pasting process, and a second pasting process.

The attaching step is a step of attaching the attaching device 1 including the corner attaching unit 10 and the side attaching units 50A and 50B to the vehicle door frame component 110. In the attachment process, the robot arm 2 holds the corner attaching unit 10 with the corner attaching unit 10 and the side attaching units 50A and 50B connected to each other, and attaches the attaching device 1 to the vehicle door frame component 110. Attach. The first attaching step is a step of attaching the corner sealing portion 102 to the vehicle door frame component 110 using the corner attaching unit 10. The second attachment step is a step of attaching the side sealing portions 103, 104 to the vehicle door frame component 110 using the side attaching units 50A, 50B. In the second pasting step, the robot arm 2 disconnects the side pasting units 50A and 50B from the corner pasting unit 10 and moves them relative to the vehicle door frame part 110, thereby applying 103 and 104 are attached to the vehicle door frame part 110.

Specifically, in the attachment process, as shown in FIG. 3, the robot arm 2 holds the held portion 12 (see FIG. 6) of the corner pasting unit 10. At this time, the connecting portions 53 (see FIG. 8) of the side pasting units 50A, 50B are connected to the connecting portions 14A, 14B (see FIG. 7) of the corner pasting unit 10, respectively. Further, the robot arm 2 grips the weather strip 101 with the application device 1. At this time, the guide mechanisms 56 (see FIG. 9) of the side pasting units 50A and 50B grip the weather strip 101. In the corner sticking unit 10, the weather strip 101 is arranged so as to pass through the space between the pressing members 23 and 24 (see FIG. 7). Note that a portion of the weather strip 101 is held by another robot arm 90.

Next, in the attachment process, the robot arm 2 moves the applicator 1 to the corner 112a of the vehicle door frame component 110, as shown in FIG. 4(a). Then, the pressing members 23 and 24 (see FIG. 7) of the corner sticking unit 10 sandwich the weather strip 101 and the corner 112a. Thereby, the pasting device 1 is fixed to the corner 112a. Moreover, at this time, since the weather strip 101 is pressed against the corner portion 112a and pasted, the first pasting process is simultaneously performed.

Next, in the second pasting process, as shown in FIG. 4(b), the robot arm 2 moves the side pasting unit 50A in the direction D1. At this time, while the guide mechanism 56 feeds the weatherstrip 101, the supply roller 64 attaches the weatherstrip 101 to the side portion 112b, and then the roller 61 presses the weatherstrip 101 (see FIG. 9). As a result, the weather strip 101 is attached to the side portion 112b of the vehicle door frame component 110. After the pasting is completed, the side pasting unit 50A is connected to the corner pasting unit 10. Further, as shown in FIG. 5(a), the robot arm 2 moves the side pasting unit 50B in the direction D2. At this time, the side pasting unit 50B operates in the same manner as the side pasting unit 50A. Thereby, the weather strip 101 is attached to the side portion 112c of the vehicle door frame component 110.

After the pasting is completed, the side pasting unit 50B is connected to the corner pasting unit 10, as shown in FIG. 5(b). Then, the robot arm 2 removes the pasting device 1 from the vehicle door frame component 1110.

Next, the functions and effects of the pasting device, pasting system, and pasting method according to this embodiment will be explained.

The pasting device is a pasting device that presses and pastes an article having a first portion and a second portion onto an adherend, and includes a first pasting portion that pastes the first portion onto the adherend; , a second sticking part that sticks the second part to the adherend, the first sticking part and the second sticking part can be connected and disconnected from each other, and the first sticking part The robot arm includes a first held part that is detachably held on the robot arm, a first pressing part that presses the first part against the adherend, and a second sticking part that is attached to the robot arm. The device includes a second held portion that is detachably held against the adherend, and a second pressing portion that presses the second portion against the adherend while moving relative to the adherend.

In this pasting device, the first pasting section and the second pasting section can be connected and disconnected from each other. Further, the first sticking section includes a first held section that is detachably held on the robot arm. Therefore, by holding the first held part, the robot arm can hold the entire first sticking part and the second sticking part connected to the first sticking part. Thereby, the robot arm can attach the entire pasting device to the adherend at once. The first sticking part can stick the first part to the adherend by pressing the first part against the adherend using the first pressing part. On the other hand, the second sticking section includes a second held section that is detachably held on the robot arm. Therefore, after the connection between the first application section and the second application section is released, the robot arm moves the second application section relative to the adherend by holding the second held section. can be done. Thereby, the second sticking part sticks the second part to the adherend by the second pressing part that presses the second part against the adherend while moving with respect to the adherend. Can be attached. As described above, by using different sticking parts, the article can be satisfactorily stuck to the desired sticking position of the adherend.

The first pressing portion may be capable of pressing the first portion in a state where the first held portion is released from being held by the robot arm. In this case, while the first pasting section is performing pasting, the robot arm can perform the pasting process using the second pasting section.

The first sticking section may include a fixing mechanism for fixing the adherend and the first sticking section. In this case, the state in which the first sticking part is attached to the adherend can be maintained even if the first sticking part is not supported by the robot arm.

The first sticking section may stick the article to the corner of the adherend.

The first pressing part has a shape corresponding to the inner periphery of the corner of the adherend, and includes a first pressing member that presses the corner from the inner periphery, and an outer periphery of the corner of the adherend. a second pressing member having a shape corresponding to the side and pressing the corner from the outer circumferential side through the article; and a drive unit that moves the first pressing member and the second pressing member closer to and away from each other. A fixing mechanism for fixing the adherend and the first sticking part may be configured by the first pressing member, the second pressing member, and the driving part. In this case, since the first pressing member and the second pressing member have shapes corresponding to the corners of the adherend, it is possible to press the article with an appropriate pressing force. Further, it is possible to simultaneously press the article and fix the first sticking section to the adherend.

The second pressing section of the second sticking section may include a roller that presses and sticks the article. In this case, the roller can send out the article as it moves while pressing the article.

The adherend may be an automobile part. The adherend may be a vehicle door frame component.

The first and second portions of the article may have different cross-sectional shapes. In this case, different attachment sections can be used to successfully attach the adhesive to portions that have different cross-sectional shapes.

The pasting system is a pasting system that presses and pastes an article having a first part and a second part onto an adherend, and includes a first pasting section that pastes the first part onto the adherend; and a pasting device including a second pasting section for pasting the second portion onto the adherend, and a robot arm that removably holds the pasting device, and the robot arm is configured to attach the first portion and the second portion to the adherend. holding the first part with the parts connected to each other, attaching the applicator to the adherend, and moving the second applicator, which is disconnected from the first applicator, relative to the adherend; .

The pasting method is a pasting method in which an article having a first part and a second part is pressed and pasted onto an adherend, the first pasting part pasting the first part onto the adherend; and an attachment step of attaching to the adherend a pasting device comprising a second sticking section for pasting the second portion on the adherend; and a second attaching step of attaching the second part to the adherend by a second attaching part, and in the attaching step, the robot arm attaches the first part and the second part to the adherend. The applicator is attached to the adherend by holding the first parts connected to each other, and in a second applicating step, the robot arm uncouples the second applicator from the first applicator. The second portion is attached to the adherend by moving it relative to the adherend.

According to these pasting systems and methods, it is possible to obtain the same effects and effects as the above-mentioned pasting devices.

The invention is not limited to the embodiments described above.

For example, weather strips have been used as articles, and vehicle door frame parts have been used as adherends. Alternatively, a seal rubber, packing, etc. may be used as the article, and a residential door, an aircraft door, etc. may be used as the adherend.

In the above-described embodiment, two side pasting units are connected to one corner pasting unit, but the number of side pasting units may be one.

The corner sticking unit was equipped with a pressing part that could perform pasting and fixing at the same time by sandwiching the corner between the pressing members. However, separate mechanisms may be employed as the pressing mechanism and the fixing mechanism.

Moreover, the mechanisms such as the pressing part, the connecting part, and the held part of the corner sticking unit and the side sticking unit described above are only examples, and may be changed as appropriate.

Note that when moving the pasting device 1 with the corner pasting unit 10 and the side pasting units 50A and 50B connected, the robot arm 2 may carry the held part 52 instead of the held part 12. There may be.

DESCRIPTION OF SYMBOLS 1... Sticking device, 2... Robot arm, 10... Corner sticking unit (first sticking part), 12... Holding part (first holding part), 13... Pressing part (first pressing part), 15...Fixing mechanism, 23...Press member (first press member), 24...Press member (second press member), 26, 27...Drive unit, 50A, 50B...Side part pasting unit (second pasting part) ), 52... held part (second held part), 54... pressing part (second pressing part), 61... roller, 100... pasting system, 101... weather strip (article), 102... corner seal Sealing portion (first portion), 103, 104... Side sealing portion (second portion), 110... Vehicle door frame component (adherent), 112a... Corner portion.

Claims (11)

A pasting device for pressing and pasting an article having a first part and a second part onto an adherend,
a first attaching section that attaches the first portion to the adherend;
a second sticking part for sticking the second part to the adherend,
The first sticking part and the second sticking part can be connected and disconnected from each other,
The first pasting part is
a first held part that is detachably held with respect to the robot arm;
a first pressing portion that presses the first portion against the adherend;
The second pasting part is
a second held part that is detachably held with respect to the robot arm;
a second pressing part that presses a second portion against the adherend while moving relative to the adherend ;
A pasting device in which the entire pasting device can be attached to the adherend at once in a state where the first pasting portion and the second pasting portion are connected to each other. A pasting device for pressing and pasting an article having a first part and a second part onto an adherend,
a first attaching section that attaches the first portion to the adherend;
a second sticking part for sticking the second part to the adherend,
The first sticking part and the second sticking part can be connected and disconnected from each other,
The first pasting part is
a first held part that is detachably held with respect to the robot arm;
a first pressing portion that presses the first portion against the adherend;
The second pasting part is
a second held part that is detachably held with respect to the robot arm;
a second pressing part that presses a second portion against the adherend while moving relative to the adherend;
The first pressing section is a pasting device that is capable of pressing the first portion in a state where the first held section is released from being held by the robot arm. The pasting device according to claim 1 or 2, wherein the first pasting section includes a fixing mechanism for fixing the adherend and the first pasting section. The sticking device according to claim 1, wherein the first sticking section sticks the article to a corner of the adherend. A pasting device for pressing and pasting an article having a first part and a second part onto an adherend,
a first attaching section that attaches the first portion to the adherend;
a second sticking part for sticking the second part to the adherend,
The first sticking part and the second sticking part can be connected and disconnected from each other,
The first pasting part is
a first held part that is detachably held with respect to the robot arm;
a first pressing portion that presses the first portion against the adherend;
The second pasting part is
a second held part that is detachably held with respect to the robot arm;
a second pressing part that presses a second portion against the adherend while moving relative to the adherend;
the first pasting section pasting the article on a corner of the adherend;
The first pressing part is
a first pressing member having a shape corresponding to the inner peripheral side of the corner of the adherend and pressing the corner from the inner peripheral side;
a second pressing member having a shape corresponding to the outer peripheral side of the corner of the adherend and pressing the corner from the outer peripheral side via the article;
a drive unit that causes the first pressing member and the second pressing member to approach and separate from each other;
A pasting device, wherein the first pressing member, the second pressing member, and the drive section constitute a fixing mechanism for fixing the adherend and the first pasting section. The pasting device according to any one of claims 1 to 5, wherein the second pressing section of the second pasting section includes a roller that presses and pastes the article. The pasting device according to claim 1, wherein the first portion and the second portion of the article have different cross-sectional shapes. The pasting device according to any one of claims 1 to 7, wherein the adherend is an automobile part. The pasting device according to claim 8, wherein the adherend is a vehicle door frame component. An application system for pressing and pasting an article having a first part and a second part onto an adherend,
a pasting device comprising a first pasting section for pasting the first portion on the adherend, and a second pasting section for pasting the second portion on the adherend;
a robot arm that removably holds the pasting device;
The robot arm is
Holding the first sticking part in a state where the first sticking part and the second sticking part are connected to each other, and attaching the entire sticking device to the adherend at once ,
A pasting system that moves the second pasting section that has been disconnected from the first pasting section relative to the adherend. A pasting method for pressing and pasting an article having a first part and a second part onto an adherend, the method comprising:
Attaching a pasting device to the adherend, including a first pasting section for pasting the first portion on the adherend, and a second pasting section for pasting the second portion on the adherend. process and
a first pasting step of pasting the first portion onto the adherend by the first pasting section;
a second adhering step of adhering the second portion to the adherend by the second adhering section,
In the attachment step, the robot arm attaches to the firstPasting partand said secondPasting partare connected to each other, and the firstPasting partholding the pasting device to the adherend;
In the second pasting step, the robot arm disconnects the second pasting part from the first pasting part and moves it relative to the adherend, thereby attaching the second part. A pasting method for pasting on the adherend.

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